Apparatus and method for minimally invasive suturing

A surgical suturing device, comprising:

• a suture head assembly having a proximal end, a distal end, and defining an arced needle track therein, the suture head assembly being coupled at an articulation hinge at the proximal end of the suturing head assembly to an elongate shaft to permit the suturing head to articulate about the articulation hinge, the suture head assembly further being coupled to a roticulation joint, the roticulation joint being configured the suture head assembly to rotate about a longitudinal axis of the suture head assembly, the suture head assembly having a maximum transverse dimension perpendicular to its length between about 3 mm and about 20 mm to permit the suture head assembly to be introduced into a trocar that has a diameter between about 3 mm and about 20 mm to permit the surgical suturing device to be used for a minimally invasive surgical procedure through the trocar;
• an arced needle positioned in the needle track, the needle including a leading end, a trailing end, and an arced body extending between the leading end and the trailing end, the arced needle being configured to slide along the needle track along a circular path led by the leading end of the needle, wherein the needle defines at least one drive notch formed at least partially into the arced body between the leading end and the trailing end, the at least one drive notch being defined at least in part by a rearwardly facing drive surface that faces along a direction toward the trailing end of the arced needle, and a ramped surface;
• and
• a needle driver including a drive pawl that is configured to releasably engage the rearwardly facing drive surface of the at least one drive notch of the arced needle, and advance the arced needle along the needle track from a starting location to an ending location along a forward direction during a drive stroke, wherein the drive pawl of the needle driver applies sufficient force to the ramped surface of the at least one drive notch of the arced needle when the needle driver moves in a return stroke back toward the starting location to cause the direction of the needle to reverse along the needle track when the direction of travel of the needle driver reverses, and further wherein the needle driver is configured to advance the arced needle about 360 degrees along said needle track by executing two drive strokes.